#!/usr/bin/env python
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# Copyright (c) 2012, Willow Garage, Inc.
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# Author: Sachin Chitta
#         Willow Garage

import roslib; roslib.load_manifest('sushi_smach')
import rospy
from sushi_smach.GraspTurntable import GraspTurntable

if __name__=='__main__':
    rospy.init_node('sushi_turntable_test')
    gg = GraspTurntable(arm_name='right_arm')

    while not rospy.is_shutdown():
        # torso height for Willow = 0.25
        # torso height for Turtlebot = 0.10
        gg.torso.move(0.25)
        gg.pickup_object()

        # Open the gripper and drop the object on the side
        gg.gripper.open()
        # Reset the collision map
        gg.reset()

        # wait
        rospy.sleep(20.0)
